Does OAuth always use the HTTP Authorization header?

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Have an app running in GCP using App Engine and secured by IAP. To the best of my knowledge IAP uses OAuth, but when I open the app in the browser and inspect the outgoing XHR requests I don't see the HTTP Authorization header on any of them. There does appear to be a token in the cookies though, something named GCP_IAAP_AUTH_TOKEN. Just wondering if this is still considered OAuth or is it some other form of authentication?

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Cloud IAP can use either the cookie GCP_IAAP_AUTH_TOKEN or Authorization: Bearer. Both are derived from OAuth2.

The credential that Cloud IAP relies on is an OpenID Connect (OIDC) token. That token can come from either a cookie GCP_IAAP_AUTH_TOKEN or an Authorization: bearer header.

Authenticating with OpenID Connect